62 lines
1.3 KiB
C++
62 lines
1.3 KiB
C++
/**
|
|
* @file VectorConfig.cpp
|
|
* @brief Pose2Graph Configuration
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <map>
|
|
#include <string>
|
|
#include "Pose2.h"
|
|
#include "Testable.h"
|
|
|
|
namespace gtsam {
|
|
|
|
class VectorConfig;
|
|
|
|
class Pose2Config: public Testable<Pose2Config> {
|
|
|
|
private:
|
|
std::map<std::string, Pose2> values_;
|
|
|
|
public:
|
|
|
|
typedef std::map<std::string, Pose2>::const_iterator iterator;
|
|
typedef iterator const_iterator;
|
|
|
|
Pose2Config() {}
|
|
|
|
Pose2Config(const Pose2Config &config) :values_(config.values_) {}
|
|
|
|
virtual ~Pose2Config() {}
|
|
|
|
const Pose2& get(std::string key) const;
|
|
|
|
void insert(const std::string& name, const Pose2& val);
|
|
|
|
inline Pose2Config& operator=(const Pose2Config& rhs) {
|
|
values_ = rhs.values_;
|
|
return (*this);
|
|
}
|
|
|
|
bool equals(const Pose2Config& expected, double tol) const;
|
|
|
|
void print(const std::string &s) const;
|
|
|
|
void clear() { values_.clear(); }
|
|
|
|
int size() { return values_.size(); };
|
|
|
|
/**
|
|
* Add a delta config, needed for use in NonlinearOptimizer
|
|
*/
|
|
Pose2Config exmap(const VectorConfig& delta) const;
|
|
|
|
inline const_iterator begin() const {return values_.begin();}
|
|
inline const_iterator end() const {return values_.end();}
|
|
inline iterator begin() {return values_.begin();}
|
|
inline iterator end() {return values_.end();}
|
|
};
|
|
} // namespace
|